STRUCTURAL SYNTHESIS AND DYNAMIC ANALYSIS OF A NEW HUMAN LEG MOTION ASSISTANCE MECHANISM

Ionut GEONEA, Nicolae DUMITRU, Alexandru MARGINE, Cristian COPILUSI, Gabriela MARINACHE, Daniela TARNITA

Abstract


In this paper, aspects of the structure, kinematic and dynamic analysis of a mechanism that is designed to be implemented as the leg of an exoskeleton-type robot are presented. The designed exoskeleton is intended to assist and rehabilitate human gait, and has the constructive particularity that the mechanism implemented in the leg structure is monomobile. Motion assistance is provided by assisting the hip and knee joints. Thus, through kinematic study the laws of motion in the joints of the exoskeleton, which reproduce those of the human hip and knee, are determined and a comparison is made between the laws of motion, namely the angular amplitude, realized by the exoskeleton and a healthy human subject.


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